钻杆抓取机械手夹持力计算建模研究  

Research on Calculation Modeling for Gripping Force of Pipe-gripping Robot Arm

作　　者：杨燕鸽[1,2] 陈航[1,2] 

机构地区：[1]中煤科工集团重庆研究院有限公司,重庆400039 [2]瓦斯灾害监控与应急技术国家重点实验室,重庆400039

出　　处：《煤矿机械》2017年第5期13-15,共3页Coal Mine Machinery

基　　金：中国煤炭科工集团有限公司科技创新基金面上项目(2017MS008)

摘　　要：由于静力学方法难以满足钻杆抓取机械手设计、优化的理论需求,采用理论力学方法,对机械手夹持力进行了等效简化,得到了力旋量平衡方程。通过对机械手实际工况的分析,求得了等效力的夹持变换矩阵。最终根据夹持点的摩擦锥条件、力旋量平衡方程和夹持变换矩阵,求得了夹持力数学模型。该数学模型为钻杆抓取机械手夹持力的计算、分析和优化奠定了理论基础。It＇s difficult to analyze and optimize the pipe-gripping robot arm with the static method, so the methods of theoretical？mechanics are adopted. The gripping force is equivalently simplified in order to figure out the force screw balance equation. The transformational matrix of the equivalent force is formed after analyzing the actual working condition of the robot arm. In the end, the mathematical model is figured out according to the friction cone condition, the force screw balance equation and the transformational matrix of the equivalent force. This mathematical model is the theoretical base for the calculation, analysis and optimization of the gripping for of the pipe-gripping robot arm.

关 键 词：钻杆 机械手 夹持力 数学建模 

分 类 号：TD41[矿业工程—矿山机电]